CN116330346A - Wheel type inspection robot and collision-prevention device for same - Google Patents

Abstract

The utility model relates to a wheel type inspection robot and buffer stop for robot, this wheel type inspection robot includes mounting mechanism, and mounting mechanism includes mounting panel and mount pad, and the mount pad is installed in the top of robot, and mounting panel height-adjustable installs in the one side that the mount pad kept away from the robot; the anti-collision mechanism comprises an anti-collision plate which is arranged at the top of the mounting plate and covers the mounting plate; the adjusting mechanism comprises an adjusting piece and a driving assembly, the adjusting piece is connected between the mounting plate and the mounting seat, and the driving assembly is in transmission connection with the adjusting piece to drive the adjusting piece to adjust the distance between the mounting plate and the robot. The wheel type inspection robot anticollision device that this disclosure provided is in order to guarantee that camera accommodation is unrestricted to can guarantee anticollision institution's protection effect.

Description

Wheel type inspection robot and collision-prevention device for same

Technical Field

The present disclosure relates to the field of inspection robots, and in particular, to a collision avoidance device for a wheel inspection robot and a wheel inspection robot.

Background

The wheel type inspection robot can assist human to finish inspection work, can improve inspection efficiency, and effectively reduces the working strength of the inspection work. In some dangerous environments, such as strong electricity, chemistry and the like, the wheel type inspection robot can replace human beings to finish inspection work, so that the problem that the human beings are difficult to inspect in dangerous environments is solved.

The common wheel type inspection robot consists of communication equipment, a travelling mechanism at the bottom and a camera at the top. In order to avoid the wheel type inspection robot from being damaged by falling objects, an anti-collision device needs to be installed on the top of the wheel type inspection robot. In the related art, for example, patent document of publication number CN218018540U discloses a machine room inspection robot, the top of the machine room inspection robot is provided with an arc sliding sleeve rod, and one end of the arc sliding sleeve rod is provided with a protective top cover. However, in some inspection operations, the height of the camera needs to be adjusted to ensure the inspection effect, and since the protective top cover is fixed relative to the top end of the robot, that is, the distance between the protective top cover and the top of the robot is fixed, when the height of the camera is adjusted, the interference between the camera and the protective top cover occurs, and the height adjustment range of the camera is limited by the distance between the protective top cover and the top of the robot.

Disclosure of Invention

The purpose of this disclosure is to provide a wheel type inspection robot and wheel type inspection robot to can guarantee that camera accommodation is unrestricted, and can guarantee anticollision institution's protection effect.

In order to achieve the above-mentioned purpose, the present disclosure provides a wheel inspection robot collision avoidance device, the wheel inspection robot collision avoidance device includes: the mounting mechanism comprises a mounting plate and a mounting seat, the mounting seat is mounted on the top of the robot, and the mounting plate is mounted on one side, far away from the robot, of the mounting seat in a height-adjustable manner; a bump guard mechanism including a bump guard plate disposed on top of the mounting plate and covering the mounting plate; the adjusting mechanism comprises an adjusting piece and a driving assembly, the adjusting piece is connected between the mounting plate and the mounting seat, and the driving assembly is in transmission connection with the adjusting piece so as to drive the adjusting piece to adjust the distance between the mounting plate and the robot.

Optionally, the regulating part is configured as the dwang, drive assembly transmission connect in the dwang in order to drive the dwang rotates around self axis, the dwang includes continuous connecting rod section and screw rod section, the mount pad is provided with the confession dwang elevating movement's activity cavity, the connecting rod section rotationally connect in the mounting panel and follow the axial of dwang is limited in the mounting panel, the screw rod section stretch into in the activity cavity with mount pad threaded connection, the mounting panel with be provided with anti-rotation mechanism between the mount pad, be used for the restriction the mounting panel for the mount pad rotates.

Optionally, a bearing is sleeved on the connecting rod section, an inner ring of the bearing is fixedly connected to the connecting rod section, and an outer ring of the bearing is fixedly connected to the mounting plate, so as to allow the rotating rod to rotate relative to the mounting plate and limit the rotating rod to move relative to the mounting plate in the axial direction of the rotating rod.

Optionally, a first stop is arranged at the end of the screw section, and a limiting boss is arranged at the cavity opening of the movable cavity and used for stopping the first stop so as to limit the screw section from falling out of the movable cavity.

Optionally, the mounting panel is provided with the installation cavity, the part of dwang stretches into in the installation cavity, drive assembly includes first gear, second gear, bull stick and knob, first gear cover is established and is fixed on the connecting rod section, just first gear is located in the installation cavity, the bull stick rotationally install in the mounting panel, and the one end of bull stick has linked firmly knob, the other end stretches into the installation cavity has linked firmly the second gear, first gear with second gear intermesh, wheel-type inspection robot is with buffer stop still includes the locking subassembly, the locking subassembly is used for releasably locking the bull stick for the rotation of mounting panel.

Optionally, the first gear and the second gear are respectively configured as bevel gears, a central axis of the first gear coincides with an axis of the rotating rod, and a central axis of the second gear coincides with an axis of the rotating rod and is perpendicular to the central axis of the first gear.

Optionally, the locking assembly includes wearing to locate with sliding the clamping lever of knob, the clamping lever is close to the one end of mounting panel has the fixture block, be provided with on the mounting panel at least one with the draw-in groove of fixture block adaptation, a plurality of the draw-in groove is annular array, the fixture block is selectively blocked in the draw-in groove, in order to restrict the bull stick for the rotation of mounting panel.

Optionally, the clamping rod is far away from one end of the mounting plate and is provided with a pull block protruding along the radial direction of the clamping rod, the locking assembly further comprises a third elastic piece, the third elastic piece is sleeved on the clamping rod, one end of the third elastic piece is fixedly connected with the knob, the other end of the third elastic piece is fixedly connected with the pull block, and the elastic force of the third elastic piece is used for pulling the pull block towards the knob.

Optionally, the anti-rotation mechanism includes a guide rod and a limiting cavity, the limiting cavity is disposed on one of the mounting plate and the mounting seat, one end of the guide rod is fixedly connected to the other of the mounting plate and the mounting seat, the other end of the guide rod is movably disposed in the limiting cavity, and the limiting cavity limits the guide rod to rotate around the rotating rod and allows the guide rod to move in the vertical direction in the limiting cavity.

Optionally, a second stop block is arranged at the end part of the guide rod, and a stop boss is arranged at the cavity opening of the limiting cavity and used for stopping the second stop block so as to limit the second stop block from falling out of the limiting cavity.

Optionally, the anticollision institution includes mounting bracket and two sets of first elastic component, the quantity of anticollision board is two and articulates respectively the opposite both sides of mounting bracket, two the anticollision board is respectively through two sets of first elastic component elasticity ground connection the mounting panel.

Optionally, the first elastic component includes first slide bar, first elastic component and second slide bar, the one end of first slide bar articulate in the anticollision board, the other end slip cap is located the second slide bar, the other end of second slide bar articulate in the mounting panel and be provided with along the radial convex supporting shoe of second slide bar, first elastic component cover is located the second slide bar and the both ends of first elastic component respectively the butt in first slide bar with the supporting shoe.

Optionally, the anti-collision mechanism further comprises a second elastic component, and the mounting frame is elastically connected with the mounting plate through the second elastic component.

Optionally, the second elastic component includes slip loop bar, second elastic component and ball, the one end of slip loop bar link firmly in the mounting panel, the other end is provided with the edge the radial convex slider of slip loop bar, have the spout in the mounting bracket, the slider slidingly embedded in the spout and be provided with the recess in the circumference of slider, the ball install in the recess and with spout rolling fit, the second elastic component sets up in the spout and the both ends of second elastic component butt respectively in the slider with the mounting bracket.

According to an object of a second aspect of the present disclosure, there is provided a wheeled inspection robot including a base and a camera, the wheeled inspection robot further including: above-mentioned wheeled inspection robot is with buffer stop, the camera with the mount pad install in on the base, the anticollision board is used for protecting the base with the camera.

Through the technical scheme, in the anti-collision device for the wheel type inspection robot, the anti-collision plate is arranged at the top of the mounting plate, and the mounting plate is mounted at the top of the robot in a height-adjustable manner, so that when a falling object falls above the robot, the anti-collision plate can block the falling object to play a role in protecting the robot; in addition, the regulating part is connected and is used for adjusting the distance between mounting panel and the mount pad to the robot, like this when the camera height of needs adjustment robot, only need adjust the interval of mounting panel to robot through the regulating part, just can adjust the height of mounting panel and anticollision board to guarantee that mounting panel and anticollision board after the adjustment are located the top of camera all the time, can not block the camera, in order to guarantee that the accommodation of camera is unrestricted, and can guarantee the protection effect to the robot.

Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, without limitation the disclosure. In the drawings:

FIG. 1 is a half cross-sectional view of a collision avoidance device for a wheeled inspection robot provided in an embodiment of the present disclosure;

FIG. 2 is an enlarged view at A in FIG. 1;

FIG. 3 is an enlarged view of FIG. 1 at B;

FIG. 4 is a schematic semi-sectional view of a first resilient assembly of a collision avoidance device for a wheeled inspection robot provided in an embodiment of the present disclosure;

fig. 5 is a schematic structural view of an adjusting mechanism of a collision avoidance device for a wheel inspection robot according to an embodiment of the present disclosure;

fig. 6 is a schematic structural view of a second elastic component of a collision avoidance device for a wheel inspection robot according to an embodiment of the present disclosure.

Description of the reference numerals

1-a robot; 21-a mounting plate; 211-mounting cavities; 212-clamping grooves; 22-mounting seats; 221-a movable cavity; 31-a second elastic component; 311-sliding loop bar; 312-mounting frame; 313-a second elastic member; 314-a slider; 315-balls; 32-an anti-collision plate; 321-rubber; 33-a first elastic component; 331-a first slide bar; 332-a first elastic member; 333-a second slide bar; 334-support blocks; 41-rotating a rod; 411-first stop; 421-first gear; 422-a second gear; 423-rotating rod; 424-knob; 425-clamping rod; 426-clamping blocks; 427-pulling block; 428-a third elastic member; 51-a guide rod; 511-a second stop; 52-limit the cavity.

Detailed Description

Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.

In the present disclosure, unless otherwise stated, terms of orientation such as "inner and outer" refer to "inner and outer" with respect to the self-contour of the corresponding component, and "top and bottom" refer to "top and bottom" of the present disclosure in the height direction in the use state. In addition, the terms "first," "second," and the like, as used in this disclosure, are used to distinguish one element from another element without sequence or importance. Furthermore, in the following description, when referring to the drawings, the same reference numerals in different drawings denote the same or similar elements unless otherwise explained. The foregoing definitions are provided for the purpose of illustrating and explaining the present disclosure and should not be construed as limiting the present disclosure.

According to an embodiment of the present disclosure, referring to fig. 1 to 6, there is provided a collision avoidance device for a wheel inspection robot, the collision avoidance device for a wheel inspection robot including a mounting mechanism including a mounting plate 21 and a mounting base 22, the mounting base 22 being mounted on top of a robot 1, the mounting plate 21 being height-adjustably mounted on a side of the mounting base 22 remote from the robot 1; a bump preventing mechanism including a bump preventing plate 32, the bump preventing plate 32 being arranged on top of the mounting plate 21 and covering the mounting plate 21; the adjusting mechanism comprises an adjusting piece and a driving assembly, the adjusting piece is connected between the mounting plate 21 and the mounting seat 22, and the driving assembly is in transmission connection with the adjusting piece so as to drive the adjusting piece to adjust the distance between the mounting plate 21 and the robot 1.

Through the above technical scheme, in the anti-collision device for the wheel type inspection robot provided by the disclosure, the anti-collision plate 32 is arranged at the top of the mounting plate 21, and the mounting plate 21 is mounted at the top of the robot 1 in a height-adjustable manner, so that when a falling object falls above the robot 1, the anti-collision plate 32 can block the falling object to play a role in protecting the robot 1; in addition, the regulating part is connected between the mounting plate 21 and the mounting seat 22 and is used for adjusting the distance between the mounting plate 21 and the robot 1, so that when the height of the camera of the robot 1 needs to be adjusted, the height of the mounting plate 21 and the anti-collision plate 32 can be adjusted only by adjusting the distance between the mounting plate 21 and the robot 1 through the regulating part, the adjusted mounting plate 21 and the adjusted anti-collision plate 32 are always positioned above the camera, the camera cannot be blocked, the adjusting range of the camera can be ensured to be unrestricted, and the protection effect on the robot can be ensured.

In the anti-collision device for a wheel inspection robot provided by the present disclosure, the distance between the mounting plate 21 and the robot 1 may be adjusted by any suitable manner, as an exemplary embodiment, referring to fig. 1, 2 and 5, the adjusting member may be configured as a rotating rod 41, the driving assembly is drivingly connected to the rotating rod 41 to drive the rotating rod 41 to rotate around its own axis, the rotating rod 41 may include a connecting rod section and a screw section, the mounting seat 22 is provided with a movable cavity 221 for lifting movement of the rotating rod 41, the connecting rod section is rotatably connected to the mounting plate 21 and limited to the mounting plate 21 along the axial direction of the rotating rod 41, and the screw section extends into the movable cavity 221 to be in threaded connection with the mounting seat 22, and an anti-rotation mechanism is provided between the mounting plate 21 and the mounting seat 22 for limiting rotation of the mounting plate 21 relative to the mounting seat 22. The connecting rod section of the rotating rod 41 is rotatably connected to the mounting plate 21, and the rotation preventing mechanism limits the rotation of the mounting plate 21 relative to the mounting seat 22, so that the mounting plate 21 does not rotate with the rotating rod 41 during the rotation of the rotating rod 41 about its own axis driven by the driving assembly. The screw section of the rotating rod 41 is in threaded connection with the mounting seat 22, so that when the rotating rod 41 rotates around the axis thereof, the rotating rod 41 moves up or down relative to the mounting seat 22 along the axis thereof, and meanwhile, the lower end of the rotating rod 41 can move up and down in the movable cavity 221, so that the rotating rod 41 is ensured to have enough lifting space. In addition, the connecting rod section is limited to the mounting plate 21 along the axial direction of the rotating rod 41, so that the rotating rod 41 moves up or down synchronously with the mounting plate 21 in the process of moving up or down, so as to adjust the height of the mounting plate 21 and the anti-collision mechanism mounted on the mounting plate.

In other embodiments, the adjusting member may also be configured as a hydraulic cylinder, the corresponding driving assembly is configured as a hydraulic pump, the hydraulic cylinder is connected between the mounting plate 21 and the robot 1, wherein one end of a piston rod of the hydraulic cylinder, which is far away from the hydraulic cylinder, is fixedly connected to either the mounting plate 21 or the robot 1, one end of a cylinder body of the hydraulic cylinder, which is far away from the piston rod, is fixedly connected to the other one of the mounting plate 21 or the robot 1, and the hydraulic pump is mounted on the mounting seat 22 and is in transmission connection with the hydraulic cylinder to drive the piston rod of the hydraulic cylinder to stretch and retract, so as to realize that the mounting plate 21 and the anti-collision mechanism mounted thereon move up and down together in the vertical direction. Similarly, the adjusting member may be configured as an air cylinder, and the corresponding driving assembly is configured as an air pump, which is not limited in this disclosure.

In the anti-collision device for a wheel inspection robot provided by the present disclosure, the connection between the rotating rod 41 and the mounting plate 21 may be achieved by any suitable manner, and in an exemplary embodiment, a bearing may be sleeved on the connecting rod section, an inner ring of the bearing may be fixedly connected to the connecting rod section, and an outer ring of the bearing may be fixedly connected to the mounting plate 21, so as to allow the rotating rod 41 to rotate relative to the mounting plate 21 and limit the movement of the rotating rod 41 relative to the mounting plate 21 in the axial direction of the rotating rod 41. In this way, the rotation rod 41 moves up or down along its own axis relative to the mounting seat 22, and the bearing moves the mounting plate 21 along the axial direction of the rotation rod 41 to adjust the height of the mounting plate 21.

In other embodiments, the rotating rod 41 may also be provided with a blocking piece, where the distance from the blocking piece to the end surface of the connecting rod segment is equal to the axial length of the mounting cavity 211 along the rotating rod 41, so that the blocking piece may abut against the bottom wall of the mounting cavity 211 to limit the downward movement of the rotating rod 41 relative to the mounting plate 21, and the end surface of the connecting rod segment may abut against the top wall of the mounting cavity 211 to limit the upward movement of the rotating rod 41 relative to the mounting plate 21, so that the mounting plate 21 is carried along to move synchronously along the axial direction of the rotating rod 41 in the process of moving the rotating rod 41 up or down along its own axis.

In an exemplary embodiment provided by the present disclosure, in order to realize stable installation of the adjustment mechanism and the mounting plate 21 on the mounting seat 22, referring to fig. 1, an end of the screw section may be provided with a first stop 411, and a cavity opening of the movable cavity 221 may be provided with a limit boss for stopping the first stop 411 to limit the screw section from being removed from the movable cavity 221. Thus, when the rotation lever 41 moves up to the limit position, the first stopper 411 will abut against the inner wall of the limit boss, so that the rotation lever 41 can be prevented from being separated from the mounting seat 22, and the mounting reliability of the adjusting mechanism and the mounting plate 21 can be improved.

In the anti-collision device for a wheel inspection robot provided by the present disclosure, the driving assembly may be configured in any suitable manner, in an exemplary embodiment, referring to fig. 5, the mounting plate 21 may be provided with a mounting cavity 211, a portion of the rotation lever 41 may extend into the mounting cavity 211, the driving assembly may include a first gear 421, a second gear 422, a rotation lever 423 and a knob 424, the first gear 421 is sleeved and fixed on the connection lever section, and the first gear 421 is located in the mounting cavity 211, the rotation lever 423 is rotatably mounted to the mounting plate 21, and one end of the rotation lever 423 is fixedly connected with the knob 424, the other end extends into the mounting cavity 211 and is fixedly connected with the second gear 422, the first gear 421 and the second gear 422 are engaged with each other, and the anti-collision device for a wheel inspection robot further includes a locking assembly for releasably locking the rotation of the rotation lever 423 relative to the mounting plate 21. Thus, the rotation knob 424 can drive the rotating rod 423 to rotate, further drive the second gear 422 to rotate, and the first gear 421 meshed with the second gear 422 rotates along with the second gear 422, further drive the rotating rod 41 to rotate. In the present disclosure, it may be considered that the forward rotation of the knob 424 may drive the rotation lever 41 to ascend relative to the robot 1, whereas it may drive the rotation lever 41 to descend relative to the robot 1; through setting up the installation cavity 211, can be with the complete holding of drive assembly in mounting panel 21, can avoid exposing the interference that appears because of drive assembly, be favorable to improving drive assembly's reliability, further improve the reliability of mounting panel 21 altitude mixture control. Through setting up the locking component, can realize when the height of needs adjusting mounting panel 21, rotate knob 424 through operating locking component unblock bull stick 423 and adjust the height of mounting panel 21, adjust to suitable height after the mounting panel 21, through operating locking component restriction bull stick 423 rotation to lock the installation height of mounting panel 21, prevent to lead to the fact mounting panel 21 removal because of external interference or maloperation, smash bad robot 1.

It should be noted that "releasably locked" means that the locking of the rotating lever 423 can be released by the locking assembly when the rotating lever 423 is required to rotate the knob 424, and the rotation of the rotating lever 423 can be locked by the locking assembly with respect to the mounting plate 21 when the rotating lever 423 is required to limit the rotation of the knob 424.

In the collision avoidance device for a wheel inspection robot provided in the present disclosure, the first gear 421 and the second gear 422 may be configured in any suitable manner, and in one exemplary embodiment, referring to fig. 5, the first gear 421 and the second gear 422 may be configured as bevel gears, respectively, the central axis of the first gear 421 may coincide with the axis of the rotating lever 41, and the central axis of the second gear 422 may coincide with the axis of the rotating lever 423 and be perpendicular to the central axis of the first gear 421. Like this, the axis of bull stick 423 can be perpendicular with the axis of dwang 41, and knob 424 can set up in the side of mounting panel 21, compares with knob 424 setting up at the top or the bottom of mounting panel 21, and the aforesaid setting of first gear 421 and second gear 422 can supply the staff to operate knob 424 more conveniently, can improve the convenience of operation. In other embodiments, the first gear 421 and the second gear 422 may also be configured in any suitable manner, as this disclosure is not limited in particular.

In other exemplary embodiments, the driving assembly may be configured as a driving motor, and an output end of the driving motor is in driving connection with one end of the rotating rod 41, where the driving motor may be installed in the mounting cavity 211 or the movable cavity 221, or may be installed on top or bottom of the mounting plate 21 or the mounting seat 22, which is not particularly limited in this disclosure.

In the anti-collision device for a wheel inspection robot provided by the present disclosure, as an exemplary embodiment, the locking assembly may include a clamping rod 425 slidably penetrating through the knob 424, one end of the clamping rod 425 near the mounting plate 21 may have a clamping block 426, the mounting plate 21 may be provided with at least one clamping groove 212 adapted to the clamping block 426, the plurality of clamping grooves 212 may be in a ring array, and the clamping block 426 may be selectively clamped into the clamping groove 212 to limit the rotation of the rotating rod 423 relative to the mounting plate 21, as shown in fig. 5. Wherein, fixture block 426 and draw-in groove 212 can be constructed as triangle-shaped, quadrangle, wedge etc. that mutually support, this disclosure contrast does not do specific limitation, when mounting panel 21 adjusts to the height of needs, the staff can operate clamping lever 425 and pass knob 424 and imbed fixture block 426 in draw-in groove 212 to carry out the locking to knob 424, further can realize locking the mounted position of dwang 41 and mounting panel 21, prevent to appear because of knob 424 receives the external interference to take place to rotate and lead to the mounted position of mounting panel 21 to appear moving the condition, in order to improve the reliability of anticollision mechanism after the installation.

In one exemplary embodiment provided in the present disclosure, in order to further improve the installation reliability of the capture assembly, referring to fig. 5, an end of the clip lever 425 away from the mounting plate 21 may have a pull block 427 protruding in a radial direction of the clip lever 425, the capture assembly may further include a third elastic member 428, the third elastic member 428 may be sleeved on the clip lever 425, and one end of the third elastic member 428 may be fixedly connected to the knob 424, and the other end may be fixedly connected to the pull block 427, and an elastic force of the third elastic member 428 is used to pull the pull block 427 toward the knob 424. After the clamping rod 425 is clamped, the pulling block 427 is pulled to move towards the direction of the mounting plate 21 by the elastic force of the third elastic member 428, so that the clamping block 426 is always abutted in the clamping groove 212, and the clamping block 426 is prevented from sliding out of the clamping groove 212 due to external force or vibration of the device, thereby being beneficial to improving the mounting reliability of the clamping rod 425. In the present disclosure, the third elastic member 428 may be configured as a spring, a rubber elastic pad, or the like, which is not particularly limited by the present disclosure.

In the collision avoidance device for a wheel inspection robot provided by the present disclosure, the rotation avoidance mechanism may be configured in any suitable manner. In one exemplary embodiment, referring to fig. 1, the anti-rotation mechanism may include a guide rod 51 and a limiting cavity 52, the limiting cavity 52 may be provided on one of the mounting plate 21 and the mounting seat 22, one end of the guide rod 51 may be fixedly connected to the other of the mounting plate 21 and the mounting seat 22, and the other end of the guide rod 51 may be movably provided in the limiting cavity 52, the limiting cavity 52 limiting rotation of the guide rod 51 around the rotation rod 41 and allowing the guide rod 51 to move in a vertical direction in the limiting cavity 52. In this way, in the process of rotating the rotating rod 41, the side wall of the guide rod 51 can abut against the inner wall of the limiting cavity 52 to limit the rotation of the mounting plate 21 along with the rotating rod 41, so that the shaking of the mounting plate 21 caused by the rotation of the mounting plate 21 can be avoided, and the stability of the mounting plate 21 can be improved. During the upward or downward movement of the mounting plate 21, the other end of the guide rod 51 slides in the limiting cavity 52 to ensure that the mounting plate 21 has sufficient space for movement in the vertical direction.

In another embodiment, the anti-rotation mechanism may be configured as a telescopic rod, one end of which is connected to the mounting plate 21 and the other end of which is connected to the mounting seat 22 or the robot 1. The present disclosure is not particularly limited thereto.

In the exemplary embodiment provided in the present disclosure, in order to further improve the installation reliability of the guide rod 51, referring to fig. 1, the end of the guide rod 51 may be provided with a second stopper 511, and the mouth of the limiting cavity 52 may be provided with a stopper boss for stopping the second stopper 511 to limit the second stopper 511 from being separated from the limiting cavity 52, so that when the mounting plate 21 moves up to the limit position, the second stopper 511 just abuts against the inner wall of the stopper boss, thus preventing the guide rod 51 from sliding out of the limiting cavity 52 to improve the installation reliability of the guide rod 51.

In the anti-collision device for a wheel inspection robot provided by the present disclosure, the anti-collision mechanism may be configured in any suitable manner, and in one exemplary embodiment, referring to fig. 1, the anti-collision mechanism may include a mounting frame 312 and two sets of first elastic members 33, the number of anti-collision plates 32 may be two and respectively hinged at opposite sides of the mounting frame 312, and the two anti-collision plates 32 may be elastically connected to the mounting plate 21 through the two sets of first elastic members 33, respectively. The first elastic components 33 and the anti-collision plates 32 are equal in number and correspond to each other one by one, so that when a falling object falls down, the falling object firstly collides with the mounting frame 312 and the anti-collision plates 32, the two anti-collision plates 32 rotate around a hinge point with the mounting frame 312, and the energy of the falling object is absorbed by the first elastic components 33 to protect the robot 1 below; when a falling object impacts the single-side anti-collision plate 32, the anti-collision plate 32 can disperse the energy of the falling object to the first elastic component 33 corresponding to the energy; the other side of the anti-collision plate 32 receives smaller acting force and is not easy to damage, so that the anti-collision mechanism is more durable; if the single-sided crash panel 32 is damaged, only the crashworthy panel 32 in question can be replaced to save cost.

In other embodiments, the anti-collision plate 32 may be configured as one and two ends of the first elastic component 33 are fixedly connected with the anti-collision plate 32 and the mounting plate 21 respectively, and a plurality of first elastic components 33 are uniformly disposed below the anti-collision plate 32, so that the integrity of the anti-collision plate 32 can be improved, and the acting force of the falling object can be uniformly dispersed on the plurality of first elastic components 33 by the anti-collision plate 32. The present disclosure is not particularly limited thereto. Wherein, anticollision board 32 can be constructed to transparent toughened glass anticollision board, and the image information at top can be gathered to the camera like this to improve the convenience of use, application scope is wider. The side of the anti-collision plate 32 away from the mounting plate 21 can be provided with rubber 321 to improve the elasticity of the anti-collision plate 32, so as to protect the anti-collision plate 32 and prolong the service life of the anti-collision plate 32.

In the collision avoidance device for a wheel inspection robot provided by the present disclosure, the first elastic member 33 may be configured in any suitable manner, and in one exemplary embodiment, referring to fig. 1 and 3, the first elastic member 33 may include a first slide bar 331, a first elastic member 332, and a second slide bar 333, one end of the first slide bar 331 may be hinged to the collision avoidance plate 32, the other end may be slidably sleeved on the second slide bar 333, the other end of the second slide bar 333 may be hinged to the mounting plate 21 and provided with a support block 334 protruding in a radial direction of the second slide bar 333, the first elastic member 332 may be sleeved on the second slide bar 333, and both ends of the first elastic member 332 may be respectively abutted to the first slide bar 331 and the support block 334. Thus, when the anti-collision plate 32 is rotated downward around the hinge point with the mounting frame 312 under the action of an external force, the first sliding rod 331 slides on the second sliding rod 333, and the first sliding rod 331 and the supporting block 334 compress the first elastic member 332 to absorb the energy of the falling object, so as to play a role in protection. In the present disclosure, the first elastic member 332 may be configured as a spring, a rubber elastic pad, or the like, which is not particularly limited by the present disclosure.

In order to prevent the second slide bar 333 from being separated from the first slide bar 331, the present disclosure provides an exemplary embodiment, referring to fig. 4, an end of the first slide bar 331 near the second slide bar 333 may have a first limiting block extending inward, an end of the second slide bar 333 near the first slide bar 331 may have a first limiting groove matched with the first limiting block, and the first limiting block is slidably mounted in the first limiting groove and abuts against a groove wall of the first limiting groove to prevent the second slide bar 333 from falling from the first slide bar 331, so that when the first slide bar 331 slides to a limit position on the second slide bar 333, the first limiting block abuts against an inner wall of the first limiting groove along a length direction to ensure that the first slide bar 331 and the second slide bar 333 are not separated.

In one exemplary embodiment provided by the present disclosure, in order to further improve the elasticity of the impact mechanism, referring to fig. 6, the impact mechanism may further include a second elastic member 31, and the mounting bracket 312 may be elastically coupled to the mounting plate 21 through the second elastic member 31. Thus, when the falling object impacts the mounting frame 312, the second elastic component 31 absorbs the energy of the falling object, so as to prevent the mounting frame 312 from being broken by the falling object.

In the anti-collision device for a wheel inspection robot provided by the present disclosure, the second elastic assembly 31 may be configured in any suitable manner, and in one exemplary embodiment, referring to fig. 1 and 6, the second elastic assembly 31 may include a sliding sleeve 311, a second elastic member 313 and a ball 315, one end of the sliding sleeve 311 may be fixedly connected to the mounting plate 21, the other end may be provided with a slider 314 protruding in a radial direction of the sliding sleeve 311, the mounting frame 312 may have a sliding groove therein, the slider 314 may be slidably embedded in the sliding groove and provided with a groove in a circumferential direction of the slider 314, the ball 315 may be installed in the groove and be in rolling engagement with the sliding groove, the second elastic member 313 may be disposed in the sliding groove and both ends of the second elastic member 313 may be respectively abutted against the slider 314 and the mounting frame 312. In this way, the sliding friction between the sliding block 314 and the sliding groove can be converted into rolling friction by the ball 315, so that the friction resistance is reduced to improve the sliding sensitivity between the sliding sleeve 311 and the mounting frame 312, and the flexibility of the second elastic component 31 is further improved. Wherein, the cross section of slider 314 is greater than the cross section of slip yoke 311, and when slider 314 slides to the bottommost of sliding groove in mounting bracket 312, the inner wall of mounting bracket 312 can support slider 314 in order to prevent slip yoke 311 from breaking away from mounting bracket 312, and second elastic component 313 sets up between slider 314 and mounting bracket 312, and when mounting bracket 312 receives external force effect downwardly moving, second elastic component 313 can be compressed the energy of absorbing the weight to guarantee the protective effect to below robot 1. In the present disclosure, the second elastic member 313 may be configured as a spring, a rubber elastic pad, or the like, which is not particularly limited by the present disclosure.

On the basis of the scheme, the present disclosure further provides a wheeled inspection robot, including base and camera, wheeled inspection robot still includes the aforesaid wheeled buffer stop for the inspection robot, camera and mount pad 22 are installed on the base, buffer stop 32 is used for protecting base and camera, wherein, have the installation space that is used for installing camera and mount pad 22 on the base, the camera is located one side of mount pad 22, in addition, can also have the installation hole that supplies the camera to pass on the mount pad 22, can avoid the mount pad 22 to interfere with each other with the mounted position of camera like this.

In the working process of the anti-collision device for the wheel type inspection robot, when the position of the camera at the top of the robot 1 needs to be heightened, the knob 424 needs to be rotated forward, so that the rotating rod 41 moves up to the required protection height with the mounting plate 21 and the anti-collision mechanism, and then the position of the camera is heightened; when the position of the camera needs to be lowered, the position of the camera needs to be lowered first, and then the knob 424 is rotated reversely, so that the rotating rod 41 moves down to the required protection height with the mounting plate 21 and the anti-collision mechanism. After the position adjustment of the mounting plate 21 and the anti-collision mechanism is completed, if a falling object is left above the robot 1, the falling object will fall on the anti-collision plate 32 first, and the second elastic member 313 and the first elastic member 332 are compressed to absorb the kinetic energy and potential energy of the falling object, so as to protect the robot 1 below from the falling object, thereby playing a role in protection.

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.

In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction.

Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.

Claims (15)

1. The utility model provides a wheeled inspection robot is with buffer stop which characterized in that includes:

the mounting mechanism comprises a mounting plate and a mounting seat, the mounting seat is mounted on the top of the robot, and the mounting plate is mounted on one side, far away from the robot, of the mounting seat in a height-adjustable manner;

a bump guard mechanism including a bump guard plate disposed on top of the mounting plate and covering the mounting plate;

the adjusting mechanism comprises an adjusting piece and a driving assembly, the adjusting piece is connected between the mounting plate and the mounting seat, and the driving assembly is in transmission connection with the adjusting piece so as to drive the adjusting piece to adjust the distance between the mounting plate and the robot.

2. The collision avoidance device for a wheeled inspection robot according to claim 1, wherein the adjusting member is configured as a rotating rod, the driving assembly is drivingly connected to the rotating rod to drive the rotating rod to rotate about its own axis, the rotating rod includes a connecting rod section and a screw section connected to each other, the mounting base is provided with a movable cavity in which the rotating rod moves up and down, the connecting rod section is rotatably connected to the mounting plate and is located at the mounting plate in an axial direction of the rotating rod, the screw section extends into the movable cavity to be in threaded connection with the mounting base, and an anti-rotation mechanism is provided between the mounting plate and the mounting base to restrict rotation of the mounting plate relative to the mounting base.

3. The collision avoidance device for a wheel inspection robot according to claim 2, wherein a bearing is sleeved on the connecting rod section, an inner ring of the bearing is fixedly connected to the connecting rod section, and an outer ring of the bearing is fixedly connected to the mounting plate, so as to allow the rotating rod to rotate relative to the mounting plate and restrict the rotating rod from moving relative to the mounting plate in the axial direction of the rotating rod.

4. The collision avoidance device for a wheeled inspection robot according to claim 2, wherein a first stop is provided at an end of the screw section, and a limiting boss is provided at an aperture of the movable cavity, the limiting boss being configured to stop the first stop to limit the screw section from being removed from the movable cavity.

5. The collision avoidance device for a wheel type inspection robot according to claim 2, wherein the mounting plate is provided with a mounting cavity, a part of the rotating rod extends into the mounting cavity, the driving assembly comprises a first gear, a second gear, a rotating rod and a knob, the first gear is sleeved and fixed on the connecting rod section, the first gear is located in the mounting cavity, the rotating rod is rotatably mounted on the mounting plate, one end of the rotating rod is fixedly connected with the knob, the other end of the rotating rod extends into the mounting cavity and is fixedly connected with the second gear, the first gear and the second gear are meshed with each other, and the collision avoidance device for a wheel type inspection robot further comprises a locking assembly for releasably locking the rotation of the rotating rod relative to the mounting plate.

6. The collision avoidance device for a wheel inspection robot according to claim 5, wherein the first gear and the second gear are each configured as bevel gears, a central axis of the first gear coincides with an axis of the rotating rod, and a central axis of the second gear coincides with an axis of the rotating rod and is perpendicular to a central axis of the first gear.

7. The anti-collision device for the wheel inspection robot according to claim 5, wherein the locking assembly comprises a clamping rod slidably penetrating through the knob, a clamping block is arranged at one end, close to the mounting plate, of the clamping rod, at least one clamping groove matched with the clamping block is arranged on the mounting plate, a plurality of clamping grooves are in an annular array, and the clamping block is selectively clamped into the clamping groove to limit rotation of the rotating rod relative to the mounting plate.

8. The collision avoidance device for a wheel inspection robot according to claim 7, wherein one end of the clamping rod, which is far away from the mounting plate, is provided with a pull block protruding along the radial direction of the clamping rod, the locking assembly further comprises a third elastic piece, the third elastic piece is sleeved on the clamping rod, one end of the third elastic piece is fixedly connected with the knob, the other end of the third elastic piece is fixedly connected with the pull block, and the elastic force of the third elastic piece is used for pulling the pull block towards the knob.

9. The collision avoidance device for a wheel inspection robot according to claim 2, wherein the rotation prevention mechanism comprises a guide rod and a limit cavity, the limit cavity is provided on one of the mounting plate and the mounting base, one end of the guide rod is fixedly connected to the other of the mounting plate and the mounting base, and the other end of the guide rod is movably provided in the limit cavity, and the limit cavity restricts the guide rod from rotating around the rotating rod and allows the guide rod to move in a vertical direction in the limit cavity.

10. The collision avoidance device for a wheel inspection robot according to claim 9, wherein the end of the guide rod is provided with a second stopper, and the mouth of the limit cavity is provided with a stopper boss for stopping the second stopper to restrict the second stopper from being separated from the limit cavity.

11. The collision avoidance device for a wheeled inspection robot according to any one of claims 1 to 10, wherein the collision avoidance mechanism comprises a mounting frame and two sets of first elastic components, the number of collision avoidance plates is two and respectively hinged to two opposite sides of the mounting frame, and the two collision avoidance plates are respectively connected with the mounting plate elastically through the two sets of first elastic components.

12. The collision avoidance device for a wheel inspection robot according to claim 11, wherein the first elastic component comprises a first slide bar, a first elastic member and a second slide bar, one end of the first slide bar is hinged to the collision avoidance plate, the other end of the first slide bar is slidably sleeved on the second slide bar, the other end of the second slide bar is hinged to the mounting plate and is provided with a supporting block protruding along the radial direction of the second slide bar, the first elastic member is sleeved on the second slide bar, and two ends of the first elastic member are respectively abutted to the first slide bar and the supporting block.

13. The collision avoidance device for a wheeled inspection robot of claim 11 wherein the collision avoidance mechanism further comprises a second resilient assembly through which the mounting bracket is resiliently connected to the mounting plate.

14. The collision avoidance device for a wheel type inspection robot according to claim 13, wherein the second elastic component comprises a sliding sleeve rod, a second elastic member and a ball, one end of the sliding sleeve rod is fixedly connected with the mounting plate, a sliding block protruding radially along the sliding sleeve rod is arranged at the other end of the sliding sleeve rod, a sliding groove is arranged in the mounting frame, the sliding block is slidingly embedded in the sliding groove, a groove is arranged in the circumferential direction of the sliding block, the ball is installed in the groove and is in rolling fit with the sliding groove, the second elastic member is arranged in the sliding groove, and two ends of the second elastic member are respectively abutted to the sliding block and the mounting frame.

15. The utility model provides a wheeled inspection robot, includes base and camera, its characterized in that, wheeled inspection robot still includes according to any one of claims 1-14 wheel inspection robot collision avoidance device, the camera with the mount pad is installed on the base, the anticollision board is used for protecting the base with the camera.

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